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Old Dominion ASV team

Old Dominion ASV team. Chris Shertzer , Co-Capt. Ben McKinley, Co-Capt. Adam Stofko Richard Blanchette Brittany Garman Ganesh Balasubramanian Zach Carpenter. Dr. Gene Hou Advising Professor. Background. Increased use of autonomous robotics Safety Advances in technology

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Old Dominion ASV team

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  1. Old Dominion ASV team Chris Shertzer, Co-Capt. Ben McKinley, Co-Capt. Adam Stofko Richard Blanchette Brittany Garman GaneshBalasubramanian Zach Carpenter Dr. Gene Hou Advising Professor

  2. Background • Increased use of autonomous robotics • Safety • Advances in technology • Increased support from interested parties • Military Applications • Consumer Applications Lockheed Martin’s Marlin Autonomous Underwater Vehicle (AUV)

  3. The Roboboat Competition • Competition Conducted by AUVSI • Association for unmanned vehicle systems international • Design autonomous boat • OpenCV buoy tracking • GPS tracking and navigation • Challenge stations • Underwater Light Identification • Automated Docking

  4. Hull and Deck Design • Design of Deck • 1 ¼” X 1 ¼” X 1/8” 6061-T6 aluminum angle bar • 20”X40” rectangular frame • Modular mission systems • 1/8” holes ever inch along the longitudinal rails • 1/8” 6061-T6 pontoon supports will allow for easy attachment of pontoons and motorized wheels for ground testing. • Design of Pontoons • Pontoons will be built by Wing Inflatables® • 55” length over all (LOA) and 8” or 10” in diameter (available stock) • Polyurethane construction, 40 oz/yrd2 Current Hull & Deck Design

  5. Hydrostatic and Holtrop Analysis from ORCA 3D 8” Dia Pontoon 10” Dia Pontoon • 8” Dia • 40 lbs • LCG 45% • Draft - 4.082” • 7 Lbf @ 7 Knts • 10” Dia • 40 lbs • LCG 45% • Draft – 3.66” • 7.8 Lbf @ 7 Knts

  6. Shroud There are two halves to the shroud that will be clamped together, shielding the propeller The width and distance of the protecting shroud with regards to the propeller will be varied over a series of tests to find the optimal measurements

  7. Propeller • Minn Kota, Endura C2 trolling motor • New propeller adds 30lb of thrust • In the process of redesigning propeller tips for optimal thrust Minn Kota trolling motor

  8. Automated Docking Challenge • Shape recognition and buoy color detection. • OpenCV library for shape location from real-time image. • Boat must dock temporarily to complete challenge.

  9. Underwater Light Identification Challenge • Activate lights by sending JSON message over HTTP. • 3 of 5 colored lights will turn on for 500ms each. • Color sensor feeds results to processor. • Processor runs logic to identify and report light sequence.

  10. Gantt Chart

  11. Conclusion • The Competition • July 8th-13th • This year’s competition • A new hull and deck havebeen designed • New thrusters are being tested • Challenge station modules are under development

  12. Questions?

  13. References • http://www.auvsifoundation.org • http://www.odu.edu/eng

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